function J = jacobian_right(theta_vector)
%JACOBIAN_LEFT Summary of this function goes here
%   Detailed explanation goes here
theta = norm(theta_vector);
a = theta_vector/theta;
a = a(:);
J = sin(theta)/theta * eye(3) + (1 - sin(theta)/theta)*a*a' + (1-cos(theta))/theta * so3(a);
end

